theremin-pi/theremin/lib/theremin.rb

# -*- ruby -*-
# vim: set noet sta sw=4 ts=4 :

require 'pathname'
require 'forwardable'
require 'configurability'
require 'loggability'
require 'gpio'
require 'fluidsynth'
require 'open3'
require 'socket'


# A class that coordinates GPIO events and translates
# them into commands for Fluidsynth.
#
class Theremin
	extend Configurability,
		Loggability,
		Forwardable

	# The speed of sound, in centmeters/sec.
	SONICSPEED = 34300

	# The soundfont that is loaded to index 1.
	DEFAULT_FONT = Pathname.pwd + 'Theremin.sf2'


	# Loggability API
	log_as :theremin

	# Configuration API
	#
	configurability( :theremin ) do

		##
		# The host that fluidsynth lives at.
		setting :host, default: 'localhost'

		##
		# The port that fluidsynth lives at.
		setting :port, default: 9800

		##
		# The GPIO pin the pitch trigger is on.
		setting :pitch_trigger do |val|
			GPIO.new( val ) if val
		end

 		##
 		# The GPIO pin the pitch echo measurement is on.
 		setting :pitch_echo do |val|
 			GPIO.new( val ) if val
 		end
 
 		##
 		# The GPIO pin the gain trigger is on.
 		setting :gain_trigger do |val|
 			GPIO.new( val ) if val
 		end
 
 		##
 		# The GPIO pin the gain echo measurement is on.
 		setting :gain_echo do |val|
 			GPIO.new( val ) if val
 		end

		##
		# The soundfont to use for the synth.  Will look in the
		# current working directory by default, but absolute paths 
		# can be used for system sounds.
		# The "Theremin.sf2" soundfont is always loaded into index 1!
		setting :font, default: 'Theremin.sf2' do |val|
			val = Pathname( val )
			val = Pathname.pwd + val unless val.absolute?
			val
		end


		##
		# If a note is "stuck", turn if off after this many seconds.
		setting :cancel_after, default: 5

		##
		# A reasonable distance in feet for the theremin to map notes.
		setting :distance_max, default: 3

		##
		# Initial synth volume.
		setting :gain, default: 0.0

		##
		# Enable reverb?
		setting :reverb, default: true

		##
		# Enable chorus?
		setting :chorus, default: true

		##
		# What font to initially use. 1 is the theremin. 2 is user loaded.
		setting :font_index, default: 1

		##
		# What instrument to initially use from the loaded SF2.
		setting :instrument_index, default: 1

		##
		# Portamento.  Value in milliseconds to glide between notes to
		# emulate analog theremin.  0 disables completely.  Values
		# are in 128ms increments.
		setting :glide, default: 768 do |val|
			val = 128 if val < 128 && ! val.zero?
			val = ( val.to_f / 128 ).round
			val
		end

		##
		# How frequently should the range finders measure distance?
		# Value in seconds.
		setting :sample_interval, default: 0.3

		##
		# Only change the note if the range finder value moves +/- this much
		# between samples.  This helps hold pitch, and avoids "warbles".
		setting :slew, default: 5

		##
		# Optional message to speak at startup.
		setting :startup_message, default: nil

		## ESpeak TTL options.
		setting :espeak_flags, default: %w[ -k20 -v f5 -s 160 -a 150 ]

		## Watch for camera motion?
		setting :use_motion, default: false

		## A list of phrases to randomly say when motion is detected.
		setting :motion_messages, default: []
	end


	### Instance a new Theremin daemon.
	###
	def initialize
		@pins      = %i[ pitch_trigger pitch_echo gain_trigger gain_echo ]
		@timeout   = 0
		@synth     = FluidSynth.new( self.class.host, self.class.port )
		@speech_io = nil
		@running   = false
		@threads   = []

		self.setup_speech
		self.setup_gpio

	rescue => err
		self.log.warn( err.message )
		self.stop rescue nil
    end

	# Delegate various methods directly to the underlying synth instance.
	def_delegators :@synth, :gain, :glide, :load, :reverb, :chorus, :instrument

	# The names of the GPIO pins.
	attr_reader :pins

	# The Fluidsynth instance.
	attr_reader :synth

	# An IO to stream to espeak.
	attr_reader :speech_io

	# A TCPServer for motion IPC
	attr_reader :motion_socket

	# Is this Theremin currently running?
	attr_reader :running


	### Start polling the GPIO for measurements.
	###
	def start
		@running = true
		self.synth.connect

		self.gain( self.class.gain )
		self.glide( self.class.glide )
		self.load( DEFAULT_FONT )
		self.load( self.class.font.to_s ) unless self.class.font == DEFAULT_FONT
		self.reverb( self.class.reverb )
		self.chorus( self.class.chorus )
		self.instrument( self.class.font_index, self.class.instrument_index )

		self.speak( self.class.startup_message ) if self.class.startup_message
		@threads << self.note_thread
		@threads << self.gain_thread
		@threads << self.motion_thread if self.class.use_motion
		self.led( :green )
		self.log.warn "Waiting for interaction, or ctrl-c to exit."
		@threads.map( &:join )
	end


	### Cleanly shutdown GPIO and synth.
	###
	def stop
		@running = false
		self.pins.each {|pin| self.class.send( pin ).unexport rescue nil }
		self.synth.socket.close
		self.motion_socket.close
		self.speech_io.close if self.speech_io && !self.speech_io.closed?
		self.led( :red )
	end


	#########
	protected
	#########

	### Measure pitch distance, and manage notes sent to the synth.
	###
	def note_thread
		self.log.info "Starting note/pitch measurements (every %s/sec) within %d feet." % [
			self.class.sample_interval,
			self.class.distance_max
		]

		return self.running_thread do
			distance = self.distance( :pitch )
			note = self.distance_to_note( distance )

			# Only play if within maximum distance.
			#
			if distance > 0 && distance <= self.class.distance_max
				self.log.debug "Pitch distance %0.2f (note %s)" % [ distance, note ]

				# Hold the note if it is unchanged within slew amount.
				#
				if synth.lastnote
					if note <= synth.lastnote - self.class.slew || note >= synth.lastnote + self.class.slew
						synth.playnote( note )
					end
				else
					synth.playnote( note )
				end

			# Cancel note if timeout is hit.
			#
			elsif @timeout >= self.class.cancel_after
				@timeout = 0
				synth.stopnote
			end

			sleep self.class.sample_interval
			@timeout += self.class.sample_interval
		end
	end


	### Measure gain distance, convert for any playing notes.
	###
	def gain_thread
		self.log.info "Starting gain measurements (every %s/sec) within %d feet." % [
			self.class.sample_interval,
			self.class.distance_max
		]

		return self.running_thread do
			distance = self.distance( :gain )
			gain = self.distance_to_gain( distance )

			# Only set if within maximum distance.
			#
			if distance > 0 && distance <= self.class.distance_max
				self.log.debug "Gain distance %0.2f (gain %s)" % [ distance, gain ]
				synth.gain( gain )
			else
				synth.gain( 0 )
			end

			sleep self.class.sample_interval
		end
	end


	### Watch the motion fifo, say a random phrase when motion seen.
	###
	def motion_thread
		phrases = self.class.motion_messages
		return if phrases.empty?

		@motion_socket = TCPServer.new( 62877 )
		return self.running_thread do
			client = @motion_socket.accept
			self.log.info "Camera motion detected."
			client.close
			self.speak( phrases.sample )
		rescue IOError
		end
	end


	### Open a pipe to espeak, and wait on input.
	## 
	def setup_speech
		self.log.info "Starting background espeak process."
		cmd = [ 'espeak' ]
		cmd << self.class.espeak_flags
		cmd.flatten!
		@speech_io, stdout, stderr, wait_thr = Open3.popen3( *cmd )
	end


	### Create a new thread loop that returns when @running is false.
	###
	def running_thread( &block )
		return Thread.new do
			while @running
				yield
			end
		end
	end


	### Validate GPIO config, and mark edge behavior for the echo measurement pins.
	###
	def setup_gpio
		pincheck = self.pins.map{|p| self.class.send(p) }

		if pincheck.any?( nil )
			self.stop rescue nil
			raise "GPIO pins are required configuration options: %p" % [ self.pins ]
		end

		self.class.pitch_trigger.mode( :out )
		self.class.gain_trigger.mode( :out )
		self.class.pitch_echo.mode( :in )
		self.class.pitch_echo.edge( :both )
		self.class.gain_echo.mode( :in )
		self.class.gain_echo.edge( :both )
	end


	### For a given +distance+ in feet, convert into a valid MIDI note
	### within the range.
	###
	def distance_to_note( distance )
		midi_start   = 107 # 127, but the theramin soundfont maxes out at 107.
		midi_end     = 0
		distance_min = 0

		slope = 1.0 * ( midi_end - midi_start ) / ( self.class.distance_max - distance_min )
		return ( midi_start + ( slope * ( distance - distance_min ) ) ).round
	end


	### For a given +distance+ in feet, convert into a gain range (0-5).
	###
	def distance_to_gain( distance )
		gain_start   = 5.0
		gain_end     = 0.0
		distance_min = 0

		slope = 1.0 * ( gain_end - gain_start ) / ( self.class.distance_max - distance_min )
		return ( gain_start + ( slope * ( distance - distance_min ) ) ).round( 2 )
	end


	### Returns detected distance in feet for a given +device+.
	###
	def distance( device )
		device_trigger = self.class.send( "#{device}_trigger".to_sym )
		device_echo    = self.class.send( "#{device}_echo".to_sym )

		device_trigger.write( 1 )
		sleep 0.00001
		device_trigger.write( 0 )

		duration = Time.now
		while device_echo.read == 0
			starttime = Time.now
			break if starttime - duration > GPIO::TIMEOUT
		end
		while device_echo.read == 1
			stoptime = Time.now
			break if stoptime - duration > GPIO::TIMEOUT
		end

		elapsed = stoptime - starttime
		distance = ( elapsed * SONICSPEED ) / 2
		distance = 0 if distance < 0

		distance = distance / 30.48

		return distance

	rescue
		return 0
	end


	### Set the LED.  Maybe it'll be visible.
	###
	def led( color )
		case color
		when :red
			File.open( '/sys/class/leds/PWR/brightness', 'w' ){|l| l.puts(1) }
			File.open( '/sys/class/leds/ACT/brightness', 'w' ){|l| l.puts(0) }
		when :green
			File.open( '/sys/class/leds/PWR/brightness', 'w' ){|l| l.puts(0) }
			File.open( '/sys/class/leds/ACT/brightness', 'w' ){|l| l.puts(1) }
		end
	end


	### Send text to the speech engine.
	###
	def speak( phrase )
		self.speech_io.puts( phrase )
	end

end # class Theremin